Thank you for the responses it did put me on the right way.
the problem was that indeed the T and S values did not match the configuration anymore on certain heights. LIN movements ignore this and do make it reachable without triggering a fault.
turning through the singularity point I solved using points with axis values.
thank you all for the comments and help!
I am programming with inline forms.
My goal is to make it move smoother and quicker, PTP movements would do this but I am struggling on how to use them around the singularity without overturning axis 6.
is there a way to lock the configuration of axis 6 or is there a better way to work around this problem. I want to learn on how to do this better if i ever come across this problem again.
Hello,
I have a KRC2 6 axis robot for stacking. It grips a part, turns it 180degrees and stacks it. Because of poor preparation in tooling and positioning it has to move through singularity at a certain height of the stack. with the combination of some LIN movements and turning axis 5 it works but it is ofcourse not very smooth.
When I try to use PTP movements due to the variation in the base height the robot sometimes wants to overturn axis 6. This ofcourse throws an error: "axis 6 out off limits" even though the position is reachable when he does a LIN movement.
I prefer to use PTP movements because off the speed and smooth motion, there is also enough space to let the robot move. Another way of solving this is ofcourse to make a fix position depending on the stack height which always works but again it is cleaner if the turn position changes with the stack height.
I can work with preparing everything in orange edit and copy it by USB.
Mainly my curiosity about what it could be was the reason for the question.
Thank you for the explanation!
So Kernel version is KS V8.2.162_HF7
Below some pictures from the folder structure and what is inside.
Hello,
I know this is an older thread but I am struggling with a similar problem.
Following option packages used in the solution are not installed in WorkVisual:
after which I get a list off packages that I can find in the KUKA_OPT folder on the D drive.
however none off these folders have a KOP file. I ran a search on both the C and D drive from the robot and these KOP files are not on the robot. How could I proceed?
Display Morenot sure what you mean... obviously speed can be specified and determined in correct units.
setting and measuring velocity of PTP type motions is done in %
for CP types of motions (anything non PTP) is in m/s (linear) or deg/s (rotary)
but you are using one motion type and expect units of another type.
all right, no problem. all you need to do is scale it and that is a trivial task.
you may prefer calculating scale factor rather than just trying it out and determining value empirically.
no problem, just get the needed values from MADA for your robot (motor RPMs, gear ratio).
Thank you for clarifying this.
I think there are 2 options then
1. leave the motion program as is and calculate the % to deg/sec using the information in the MADA file
2. rewrite the motion to a circ type off motion to directly and accuratly use the $VEL_C.ORI2 command
is what I want to do possible with a circ type off motion?
thank you very much already for your assistance
To make resetting of axis position possible, axis would need to be asynchronous and have enabled coupling (like E1 in this example)
But A6 is not an external axis, it is a part of robot kinematics.
What you want would require breaking that kinematics.
you can bring it to a "zero" which is a multiple of 360deg and then:
1. unmaster
2. dialmaster.
With this it would be possible to fix the overflow problem.
however I can not understand that Kuka would not have a function to determen its axis speed and control this.
That's not really correct. The axis will get an overflow after a while. May be it is a long time, but it will happen.
For the velocity, it is given in percent of the maximum. So here is what I would do:
Measure the time for ten turns (or even more) at 100%, then calculate the velocity for the sptp by simple math.
Is it possible to reset the value from axis 6 then? he will have to do this for about 4min and then the program is finished so there is an oppertunity to reset the value.
regarding the speed, is there no more accurate way to determen the axis velocity?
if all points are teached on a base frame different from base 0 (and not as axis specific positions) you can just adjust the rotation on your base frame and everything will move like you want it.
Hello,
We have two kuka robots and want to use one as a mobile lathe in function off the other one.
with the code below we can manage to let it spin endless at a variable speed.
however we would like to controll this speed in deg/sec. how would this be possible?
I looked up the command $VEL_C.ORI2 but this does not apply to an SPTP movement.
WHILE TRUE
SPTP_REL{A6 10} with $VEL_AXIS[6] = speedToUse, $APO.CDIS = 250.0 , $LOAD = LOAD_DATA[2] C_SPL
SPTP_REL{A6 10} with $VEL_AXIS[6] = speedToUse, $APO.CDIS = 250.0 , $LOAD = LOAD_DATA[2] C_SPL
SPTP_REL{A6 10} with $VEL_AXIS[6] = speedToUse, $APO.CDIS = 250.0 , $LOAD = LOAD_DATA[2] C_SPL
SPTP_REL{A6 10} with $VEL_AXIS[6] = speedToUse, $APO.CDIS = 250.0 , $LOAD = LOAD_DATA[2] C_SPL
ENDWHILE
